A positron emission tomography device

Abstract

The present application provides a positron emission tomography imaging device, comprising a frame, a plurality of detector modules, and an adjustment module. The detector modules are mounted on the frame, and the adjustment module corresponds to the detector modules. The adjustment module includes a rotating shaft and an adjustable connector. The rotating shaft is hinged to the frame, one end of the rotating shaft is connected to the detector modules, and the other end of the rotating shaft is connected to one end of the adjustable connector. The other ends of all adjustable connectors are connected to a convergence point. The present application can adjust the angle of the detector modules and adjust the center of the field of view by moving the convergence point. The device is easy to operate, has a simple structure, and is relatively low in cost.

Description

Technical Field

[0001] The present application relates to the field of high-end medical imaging equipment, and more specifically to a positron emission tomography device. Background Art

[0002] Positron emission tomography (PET, also known as positron emission tomography) is a large-scale, cutting-edge nuclear medicine imaging technology. PET can noninvasively, quantitatively, and dynamically assess the metabolic levels, biochemical reactions, and functional activities of various organs in the body at the cellular level. Therefore, it can detect relevant biochemical changes in many diseases before they cause structural changes or worsen symptoms. PET has enormous and unique application value in the diagnosis and treatment of major diseases, especially in the clinical diagnosis and treatment of tumors, cardiovascular diseases, and neurological diseases.

[0003] The principle of PET imaging is: a radioactive tracer is injected into the human body or animal body. The tracer will show different concentration distributions in different locations in the human body or animal body according to the metabolic levels of different locations. At the same time, the radioactive tracer undergoes β+ decay in the human body or animal body and produces positrons. The positrons annihilate with electrons in the human body or animal body, and then produce a pair of gamma photons with the same energy and opposite directions. The time, energy and position information of the gamma photons arriving at the detection device can be measured through an in vitro detection device, thereby calculating the distribution level of the radioactive tracer in the human body or animal body and performing image reconstruct and display.

[0004] In order to detect these gamma photons, PET detectors are usually arranged around the place where the annihilation event occurs. In the prior art, the PET detectors can be divided into the following types according to their arrangement: fixed ring PET device, flat plate PET device, heterogeneous PET device and application-adaptive PET, etc. Among them, the fixed ring is the most traditional PET arrangement, but the size of the detection ring in this arrangement is not adjustable, and the application range is not wide; flat plate PET has the characteristics of high flexibility and low cost, but sacrifices too much accuracy; heterogeneous PET and application-adaptive PET are gradually becoming new directions for the development of PET. For example, CN101856236A and CN102178542A respectively describe an application-adaptive positron A positron emission tomography (PET) imaging device and a variable-structure positron emission tomography (PET) imaging gantry are provided. A circular track is formed within a fixed gantry inner ring, and a plurality of modular tracks are mounted on the circular track. Detection modules are placed on the modular tracks to form a detection ring. The detection modules can move radially, move in a circular motion, and change direction via the modular tracks to construct detection rings of various sizes and shapes. However, in such a variable-structure PET device, the focal point of the central axis of the detector is typically used as the center of the field of view. Only the diameter of the detection ring can be adjusted, and the center of the field of view often remains stationary. Furthermore, because each detector module utilizes an independent mechanical adjustment mechanism for variable structural adjustment, the system has a large degree of freedom, a complex structure and control, and is very costly.

[0005] Therefore, it is necessary to develop a PET device with strong adjustability and low cost. Summary of the Invention

[0006] The purpose of this application is to provide a positron emission tomography device to solve at least one of the above problems.

[0007] In order to solve the above technical problems, the positron emission tomography imaging device provided in the present application includes a frame, at least two detector modules and an adjustment module, the detector module is arranged on the frame, the adjustment module corresponds to the detector module, the adjustment module includes a rotating shaft and an adjustable connector, the rotating shaft is hinged to the frame, one end of the rotating shaft is connected to the detector module, and the other end of the rotating shaft is connected to one end of the adjustable connector, and the other ends of at least two adjustable connectors are connected to a convergence point.

[0008] According to an embodiment of the present application, the other ends of all the adjustable connectors are connected to a convergence point.

[0009] According to one embodiment of the present application, the number of the adjustment modules is the same as the number of the detector modules, and each of the detector modules is fixed to a corresponding one of the adjustment modules.

[0010] According to one embodiment of the present application, the number of the adjustment modules is greater than the number of the detector modules, wherein the detector module is not provided at one end of a portion of the rotating shafts.

[0011] According to one embodiment of the present application, all the detector modules are arranged in a ring shape along the circumference of the rack, and a line connecting the convergence point and the center of the ring is perpendicular to the plane where the ring is located.

[0012] According to one embodiment of the present application, an extension direction of the rotation axis is perpendicular to a central axis of the detector module.

[0013] According to one embodiment of the present application, the rotating shaft is hingedly fixed to the frame via a bearing, and the rotating shaft rotates around its own extension direction.

[0014] According to one embodiment of the present application, one end of the rotating shaft is detachably connected to the detector module.

[0015] According to one embodiment of the present application, the rotating shaft is arranged to pass through the frame, and both ends of the rotating shaft are respectively located on two sides of the frame.

[0016] According to one embodiment of the present application, an extending direction of the adjustable connector and an extending direction of the rotation axis are perpendicular to each other.

[0017] According to one embodiment of the present application, an extending direction of the adjustable connector is not perpendicular to an extending direction of the rotation axis.

[0018] According to one embodiment of the present application, one end of the adjustable connector is connected to the rotating shaft through a first rod, and an extending direction of the first rod is the same as an extending direction of the adjustable connector.

[0019] According to one embodiment of the present application, a second rod is provided at the end of the adjustable connector, and the extension direction of the second rod is the same as the extension direction of the adjustable connector, and the other ends of all the adjustable connectors are connected to the convergence point through the second rod.

[0020] According to one embodiment of the present application, the other end of the adjustable connector is hinged to the convergence point through a universal hinge joint.

[0021] According to one embodiment of the present application, the device further includes a plurality of robotic arms, the robotic arms are fixed on the frame, the rotating shaft is hingedly fixed on the robotic arms, a through hole is provided on the frame, and the rotating shaft passes through the through hole.

[0022] According to one embodiment of the present application, an extension direction of the robotic arm and an extension direction of the rotation axis are perpendicular to each other.

[0023] According to one embodiment of the present application, the rotating shaft is hinged through a bearing or a clamping portion fixed to the end of the robotic arm.

[0024] According to one embodiment of the present application, the adjustable connector is a hydraulic linear drive device, a threaded transmission device, or a motor-driven telescopic device.

[0025] The positron emission tomography imaging device provided in the present application connects the detector modules, the rotating shaft, and the retractable connector to form an integral body. By bringing the ends of the retractable connector together and moving the position of the convergence point in the XY directions, the angle of the detector modules can be adjusted. The XY coordinates of the center of the field of view are kept consistent with the XY coordinates of the convergence point to achieve adjustment of the center of the field of view. That is, the angle adjustment of all detector modules can be completed using two degrees of freedom in the X and Y directions, achieving wide-range free adjustment of the center of the field of view, convenient operation, simple structure, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the three-dimensional structural arrangement of a positron emission tomography apparatus according to one embodiment of the present application;

[0027] Figure 2 is based on Figure 1 A schematic diagram of the YZ plane arrangement of a positron emission tomography apparatus according to an embodiment;

[0028] Figure 3 is based on Figure 1 A schematic diagram of the arrangement of the XY plane of the positron emission tomography apparatus of the embodiment;

[0029] Figure 4 is based on Figure 3 A schematic diagram of the arrangement of the XY plane of a positron emission tomography apparatus according to an embodiment, wherein the center of the field of view is changed;

[0030] Figure 5 is a schematic diagram of the arrangement of a positron emission tomography apparatus in the YZ plane according to another embodiment of the present application;

[0031] Figure 6 is based on Figure 5 A schematic diagram of the arrangement of the XY plane of the positron emission tomography apparatus of the embodiment;

[0032] Figure 7 is based on Figure 5 A schematic diagram of the arrangement of the positron emission tomography apparatus in the XY plane according to an embodiment, wherein the center of the field of view is changed. DETAILED DESCRIPTION

[0033] The present application will be further described below with reference to specific examples. It should be understood that the following examples are only used to illustrate the present application and are not intended to limit the scope of the present application.

[0034] It should be noted that when an element is referred to as being "set on" another element, it may be directly set on the other element or there may also be an intermediate element. When an element is referred to as being "connected / coupled" to another element, it may be directly connected / coupled to the other element or there may be an intermediate element at the same time. The term "connection / coupling" used in this application may include electrical and / or mechanical physical connections / couplings. The term "includes / comprising" used in this application refers to the presence of a feature, step or element, but does not exclude the presence or addition of one or more other features, steps or elements. The term "and / or" used in this application includes any and all combinations of one or more relevant listed items.

[0035] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0036] In addition, in the description of this application, the terms "first," "second," and the like are used only for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, nor should they be understood to indicate or imply relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0037] The neutron source detection device and system provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0038] like Figure 1 As shown, an embodiment of the present application provides a positron emission tomography imaging device, which at least includes a frame 10, multiple detector modules 20 and an adjustment module, wherein the frame 10 is fixed on the base 40, and the frame 10 is usually formed in a ring shape, such as a circular ring shape, and has a through space inside the frame 10 for placing the object to be measured during imaging; the multiple detector modules 20 are fixed to the frame 10 through the adjustment module, and the adjustment module is used to adjust the rotation angle of the detector modules 20 or the relative position between the detector modules 20.

[0039] Typically, multiple detector modules 20 are arranged on the rack 10 to form a ring structure, such as Figure 1In the embodiment, the rack 10 can be considered to be formed by stacking multiple circular rings parallel to the XY plane. The through space of the rack 10 can be considered to be a cylinder extending along the Z-axis direction. In this case, the Z-axis is the direction in which the object to be measured moves / travels during scanning. A single detector module 20 can be considered to be a rectangle parallel to the XY plane. The end of the detector module 20 is a side of the rectangle. The end can be considered to be one of the pixels constituting the detection ring. Multiple pixels are surrounded together to form a ring structure. The more pixels there are, the more the ring looks like a true circle. It should be understood by those skilled in the art that when the number of detector modules 20 is small, for example, when there are only three, they can be formed into a triangular cross-sectional shape. However, according to the description of this application, the triangle is essentially the same as the "detection ring" and "ring" structure described in this application.

[0040] Figure 2 is based on Figure 1 The following is a schematic diagram of the YZ plane layout of the positron emission tomography imaging device of the embodiment. Figure 1 and Figure 2 The specific configuration of the adjustment module 30 provided in this application is described in detail. The adjustment module 30 includes a rotating shaft 31 and an adjustable connector 33, wherein the rotating shaft 31 extends in a direction parallel to the Z axis (i.e., the forward direction of the object to be measured), and the rotating shaft 31 is fixed to the frame 10 through a bearing 11. The rotating shaft 31 can rotate under the action of the bearing 11, that is, rotate around an axis parallel to its own extension direction of the Z axis, as shown in FIG. Figure 2 As shown by the arrow in the figure; the bearing 11 is fixed to the frame 10, and its own relative position remains unchanged. The bearing 11 can limit the translation of the rotating shaft 31 in the X, Y, and Z axis directions, but cannot limit the rotation of the rotating shaft 31 itself.

[0041] The rotational axis 31 extends perpendicular to the centerline A of the detector module 20. One end of the rotational axis 31 is fixedly connected to the detector module 20. That is, the relative position between the rotational axis 31 and the detector module 20 remains unchanged. Specifically, if the rotational axis 31 rotates, the detector module 20 rotates with it, and the two movements remain synchronized. The other end of the rotational axis 31 is connected to an adjustable connector 33. This "connection" includes two types: a first type in which the other end of the rotational axis 31 is directly connected to one end of the adjustable connector 33; a second type in which the other end of the rotational axis 31 is connected to one end of the adjustable connector 33 via a first rod 32. The first rod 32 is a relatively rigid object, i.e., it can be considered a rigid body, meaning it cannot undergo visible deformation. The first rod 32 and the rotational axis 31 are rigidly connected. Specifically, the relative position between the first rod 32 and the rotational axis 31 remains unchanged. If the rotational axis 31 rotates, the first rod 32 rotates with it, and the two movements remain synchronized.

[0042] The adjustable connector 33 extends in the YZ plane, extending toward the axis of travel B of the object being measured. Preferably, the extension direction of each adjustable connector 33 is perpendicular to the extension direction of its corresponding rotational shaft 31. For example, when the second connection method is adopted, the extension direction of the adjustable connector 33 is consistent with the extension direction of the first rod 32 and is also perpendicular to the extension direction of the rotational shaft 31. The adjustable connector 33 can be displaced along this extension direction, such as shortening or lengthening. At the same time, an external force can apply torque to the rotational shaft 31 via the adjustable connector 33, driving the rotational shaft 31 to rotate. Those skilled in the art should understand that in order to apply torque to the rotational shaft 31 to cause it to rotate, the adjustable connector 33 can also form a certain angle with the rotational shaft 31 in the YZ plane, such as an obtuse angle. The ends of the adjustable connector 33 can be connected directly or through other means. For example, the end of the adjustable connector 33 is connected to the second rod 34. The second rod 34 extends in the same direction as the first rod 32 and the adjustable connector 33. The ends of the second rod 34 converge at the same point O'. The second rod 34 can move along its extension direction under the action of the adjustable connector 33. As the adjustable connector 33 extends or contracts, or rotates, the convergence point O' also moves. To ensure smooth movement, the convergence point O' is hinged.

[0043] As mentioned above, the rack 10 can be considered to be formed by stacking multiple circular rings parallel to the XY plane. Multiple detector modules 20 form a ring-shaped structure on the rack 10. The "ring" and "annular" structures here can all have a common center O / ring center O. The centerline of the detector module 20 is A, and the centerline A is the radial direction of the "ring" and "annular shape." When the detector modules 20 are formed into a ring shape, the centerline A of each detector module 20 passes through the center O of the ring. The center O is the focus of the central axis of all detector modules 20, that is, the center of the field of view of the PET device. In a PET device, a circular area with the center of the detection ring as the circle point and half the inner diameter of the detection ring is generally selected as the effective imaging area of the PET device, that is, the field of view of the PET device. The object to be measured moves along the axial direction B perpendicular to the center line A. That is, in the initial state, when the detector module 20 is arranged in a ring, the center of its field of view is O. Through the rotating shaft 31 and the adjustable connector 33, in the initial state, the convergence point O' corresponds to the center of the field of view O, that is, on the axial direction B perpendicular to the ring, O and O' are coincident with each other in the initial state, as shown in FIG. Figure 3 As shown, at this time, if the ring is circular, the lengths of all adjustable connectors 33 should be the same.

[0044] The following combination Figure 1-Figure 4 The working principle of the positron emission tomography device is explained.

[0045] Each detector module 20 corresponds to an adjustment module. Each adjustment module includes a rotating shaft 31 and an adjustable connector 33. The ends of all adjustable connectors 33 converge at the same point O'. Therefore, from the overall perspective, Figure 1 As shown, all adjustable connectors 33 form a divergent shape with the convergence point O' as the center. Figure 2 and Figure 3 As shown, the line B between O' and O is perpendicular to the circle formed by the detector modules. The extension direction of the adjustable connector 33 can be parallel to the center line A of the corresponding detector module 20, thereby reconstructing a convergence point O' outside the plane of the circle where the detector is located, which is completely corresponding to the center of the field of view O. Since each rotation axis 31 can rotate under the drive of the telescopic connector 33, by moving the convergence point O', the length of all the telescopic connectors 33 themselves is extended or shortened, as shown in FIG. Figure 4 As shown by the middle arrow, the retractable connector 33 itself may rotate at the same time, driving the rotating shaft 31 and the detector module 20 to rotate, thereby changing the direction of the center line A of the detector module 20 to achieve the adjustment of the market center of the PET device, as shown in FIG. Figure 4 As shown, the center of the field of view O can be adjusted to O" through movement.

[0046] The positron emission tomography imaging device provided in the present application connects the detector modules, the rotating shaft, and the retractable connector to form an integral body. By bringing the ends of the retractable connector together and moving the position of the convergence point in the XY directions, the angle of the detector modules can be adjusted. The XY coordinates of the center of the field of view are kept consistent with the XY coordinates of the convergence point to achieve adjustment of the center of the field of view. That is, the angle adjustment of all detector modules can be completed using two degrees of freedom in the X and Y directions, achieving wide-range free adjustment of the center of the field of view, convenient operation, simple structure, and low cost.

[0047] Furthermore, Figure 5 is a schematic diagram of the arrangement of a positron emission tomography apparatus in the YZ plane according to another embodiment of the present application. Figure 5 Examples and Figure 1-Figure 4 Compared with the embodiment of the present invention, the same or similar parts are marked by adding the reference numeral "100", for example, in Figure 5 In the embodiment of the present invention, the positron emission tomography imaging device includes a frame 110, a detector module 120, a rotating shaft 131 and an adjustable connector 133. Only the differences are described below. Figure 5In the embodiment of the present invention, the positron emission tomography imaging device further includes a plurality of robotic arms 141, which are arranged on the frame 110 along the radial direction of the ring where the frame 110 is located. The extension directions of all the robotic arms 141 converge at the center of the ring where the frame 110 is located. The center is theoretically on the same axis B as the field of view center O of the detector module. The number of robotic arms 141 is preferably consistent with the number of detector modules 120. A gripping portion 142 is provided at the end of the robotic arm 141. The specific form of the gripping portion 142 can be various, such as cylindrical, multi-ring arrangement or clamping. The design principle of the gripping portion 142 is to provide a grip similar to Figure 2 The bearing 111 in the embodiment allows the rotating shaft 131 to be accommodated in the bearing 111 and to rotate. The two ends of the rotating shaft 131 are respectively connected to the detector module 120 and the adjustable connector 133, and the connection method is the same as Figure 2 The same may be said in the embodiment. The robotic arm 141 can be extended or shortened along its extension direction (radial direction). Under the action of the robotic arm 141, the detector module 120 is subsequently retracted or expanded radially, thereby adjusting the size of the detection ring. At the same time, the length of the adjustable detector 133 is also extended or shortened, so that after the adjustment is completed, the center O of the detector ring always corresponds to the convergence point O' of the adjustable connector 133. A through hole 112 is also provided on the frame 110, and the rotating shaft 131 passes through the through hole 112 and can move radially along the through hole 112 under the action of the robotic arm 141.

[0048] like Figure 6 As shown, in this embodiment, if it is necessary to detect objects of different sizes, the position of the detector module 120 in the radial direction D can be adjusted by the robotic arm 141 first, for example, the detector module 120 can be moved from position 1 shown by the dotted line to position 2. Preferably, the robotic arm 141 can precisely control the displacement by a control device, for example, using a numerical control device to control the distance of extension or shortening of the robotic arm 141, so that the detector module 120 can still form a ring after the adjustment. In order to make the adjustable range larger, the number of robotic arms 141 and the number of detectors 120 can be set to be variable. For example, when it is necessary to reduce the diameter of the detection ring, the same number of the same detector modules 120 as before is not required. If the same size of detector modules 120 is used, several detector modules should be removed as needed when reducing the detection ring; when different detection accuracy is required, detector modules 120 of different sizes can be replaced to re-form a ring.

[0049] After the size adjustment of the detection ring is completed, Figure 7 As shown, it can be Figure 4The position of the center of the field of view is adjusted by adjusting the position of the convergence point O' as in the embodiment, for example, Figure 7 The center of the field of view in FIG is adjusted from O' to O", at which time, the detector module 120 rotates accordingly, and the length of the adjustable connector 133 is extended or shortened accordingly.

[0050] It is worth noting that, for any embodiment, when adjusting the position of the convergence point O', the angle of rotation of each detector is not the same, and the distance that each adjustable connector is extended or shortened is also different. In order to keep the position of the convergence point O" relatively stable, the adjustable connector itself can only be shortened or extended when the applied force reaches a certain threshold, thereby preventing the device from being easily affected by external forces and causing position displacement. Preferably, the adjustable connector can be a threaded transmission device, a hydraulic transmission device, and a motor-driven telescopic device, etc., which are only used as examples and not limitations. In theory, any device that can maintain relative rigidity and can be extended can be used as the adjustable connector in this application. Similarly, the robotic arm can also be a threaded transmission device, a hydraulic transmission device, and a motor-driven telescopic device, etc., which are only used as examples and not limitations. In theory, any device that can maintain relative rigidity and can be extended can be used as the robotic arm in this application.

[0051] It is also worth noting that, in this application, the arrangement of detector modules in a circular form is used as an example for illustration, but this application is also applicable to non-circular arrangements, such as polygonal PET arrangements, and it is only necessary to set the end convergence point of the adjustable connectors corresponding to all detector modules at the centroid of the polygon, which will not be repeated here. In the embodiment of the present application, for each detector module, it corresponds to an adjustment module, and each adjustment module includes a rotating shaft and an adjustable connector, and the ends of all adjustable connectors converge at the same point. However, for the needs of certain local detection, such as breast detection, only some modules need to be adjusted. In this case, a smaller number of detector modules can be selected, and the number of adjustment modules remains unchanged. It is only necessary to install the detector modules on the rotating shafts of some of the adjustment modules as needed to achieve adjustment, which will not be repeated here.

[0052] The above is only a preferred embodiment of the present application and is not intended to limit the scope of the present application. Various changes can be made to the above embodiments of the present application. For example, in order to achieve the purpose of adjusting the center of the field of view, the number of detector modules and adjustable connectors in the above embodiments is one-to-one corresponding. According to the teachings of the present application, those skilled in the art can use a suitable transmission device to connect some of the rotating shafts together, and then these rotating shafts share an adjustable connector; or according to the teachings of the present application, those skilled in the art can connect the ends of at least two of the adjustable connectors at a convergence point, for example, the adjustable connector on half of the ring can be connected to a convergence point, and the adjustable connector on the other half of the ring can be connected to a convergence point, and the adjustment of the center of the field of view can be achieved through the two convergence points, which also has the effect of reducing the degree of freedom when adjusting the detector module. That is, all simple, equivalent changes and modifications made according to the claims and description of the present application fall within the scope of protection of the claims of the patent of this application. What is not described in detail in this application is conventional technical content.

Claims

1. A positron emission tomography imaging device, comprising: A rack and a plurality of detector modules, wherein the detector modules are arranged on the rack, wherein the device further comprises: At least two adjustment modules, the adjustment modules correspond to the detector modules, the adjustment modules include a rotating shaft and an adjustable connector, the rotating shaft is hinged on the frame, one end of the rotating shaft is connected to the detector module, and the other end of the rotating shaft is connected to one end of the adjustable connector, the other ends of at least two of the adjustable connectors are connected to a convergence point, the convergence point is located outside the circular plane where the detector module is located, and the convergence point corresponds to the field of view center of the detector module; by adjusting the position of the convergence point, the adjustable connector is displaced along its axial extension direction, thereby driving the adjustment of the rotation angle of the detector module or the relative position between the detector modules to adjust the position of the field of view center.

2. The positron emission tomography apparatus according to claim 1, wherein: The other ends of all the adjustable connectors are connected to a convergence point.

3. The positron emission tomography apparatus according to claim 1, wherein: The number of the adjustment modules is the same as the number of the detector modules, and each of the detector modules is fixed on a corresponding one of the adjustment modules.

4. The positron emission tomography apparatus according to claim 1, wherein: The number of the adjustment modules is greater than the number of the detector modules, wherein one end of a portion of the rotating shafts is not provided with the detector module.

5. The positron emission tomography apparatus according to claim 1, wherein: All the detector modules are arranged in a ring shape along the circumference of the rack, and a line connecting the convergence point and the center of the ring shape is perpendicular to the plane where the ring shape is located.

6. The positron emission tomography apparatus according to claim 1, wherein: An extending direction of the rotation axis is perpendicular to a central axis of the detector module.

7. The positron emission tomography apparatus according to claim 1, wherein: The rotating shaft is hingedly fixed to the frame through a bearing, and the rotating shaft rotates with its own extending direction as the axis.

8. The positron emission tomography apparatus according to claim 1, wherein: One end of the rotating shaft is detachably connected to the detector module.

9. The positron emission tomography apparatus according to claim 1, wherein: The rotating shaft passes through the frame, and two ends of the rotating shaft are respectively located on two sides of the frame.

10. The positron emission tomography apparatus according to claim 1, wherein: An extending direction of the adjustable connector and an extending direction of the rotating shaft are perpendicular to each other.

11. The positron emission tomography apparatus according to claim 1, wherein: An extending direction of the adjustable connector is not perpendicular to an extending direction of the rotation axis.

12. The positron emission tomography apparatus according to claim 1, wherein: One end of the adjustable connector is connected to the rotating shaft through a first rod, and an extending direction of the first rod is the same as an extending direction of the adjustable connector.

13. The positron emission tomography apparatus according to claim 1, wherein: A second rod is provided at the end of the adjustable connector, and the extension direction of the second rod is the same as the extension direction of the adjustable connector. The other ends of all the adjustable connectors are connected to the convergence point through the second rod.

14. The positron emission tomography apparatus according to claim 1, wherein: The other end of the adjustable connector is hinged to the convergence point through a universal hinge joint.

15. The positron emission tomography apparatus according to claim 13, wherein: The other end of the adjustable connector is hinged to the convergence point through a universal hinge joint.

16. The positron emission tomography apparatus according to claim 1, wherein: The device further comprises a plurality of mechanical arms, wherein the mechanical arms are fixed on the frame, the rotating shaft is hingedly fixed on the mechanical arms, and the frame is provided with a through hole, through which the rotating shaft passes.

17. The positron emission tomography apparatus according to claim 16, wherein: An extension direction of the robotic arm and an extension direction of the rotation axis are perpendicular to each other.

18. The positron emission tomography apparatus according to claim 16, wherein: The rotating shaft is hinged via a bearing or a clamping portion fixed to the end of the robotic arm.

19. The positron emission tomography apparatus according to any one of the preceding claims, characterized in that: The adjustable connector is a hydraulic linear drive device, a threaded transmission device or a motor-driven telescopic device.

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